Polymeric Gels: Pseudo Muscular Actuators And Variable Compliance Tendons

Flexibility is a fundamental requirement of robotic technology and of particular significance in this regard is the choice and availability of actuators and actuation systems [I]. Although the performance of actuators is known to be critical in determining the strength, speed of motion, power, response rate, compactness and in many cases the compliance exhibited by robots, the choice of drive systems remains primarily restricted to electric, hydraulic and pneumatic units [2]. These devices have been in existence for many years which is testament to their endurance and performance, but each suffers from well known and well documented drawbacks which place constraints on their application in robotics [2].